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feat: 更新测速编码器配置

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bmy
2024-04-16 10:54:44 +08:00
parent 36ca756209
commit 2b3e70f0e9
4 changed files with 7 additions and 7 deletions
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7
app/jj_motion.c
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@@ -75,10 +75,9 @@ float sport_get_speed(void)
static float speed_now = 0;
static float speed_last = 0;
speed_now = ALPHA * (float)encoder_get_count(TIM5_ENCOEDER) + (1.0f - ALPHA) * speed_last;
speed_now = ALPHA * (float)encoder_get_count(TIM3_ENCOEDER) + (1.0f - ALPHA) * speed_last;
speed_last = speed_now;
encoder_clear_count(TIM5_ENCOEDER);
encoder_clear_count(TIM3_ENCOEDER);
return speed_now;
@@ -88,7 +87,7 @@ float sport_get_speed(void)
void sport_motion(void)
{
if (1 == in_stop) {
bt_fly_flag = bt_run_flag = 0;
bt_fly_flag = bt_run_flag = 0;
}
if (0 == in_state || 2 == in_state) {
PID_SetTunings(&far_gyro_pid, an_Kp1, an_Ki1, an_Kd1);